U.S. patent application number 15/575213 was filed with the patent office on 2018-05-31 for prosthetic or exoskeleton component, prosthesis or exoskeleton, and method.
The applicant listed for this patent is INVENTUS ENGINEERING GMBH. Invention is credited to STEFAN BATTLOGG.
Application Number | 20180147074 15/575213 |
Document ID | / |
Family ID | 56117671 |
Filed Date | 2018-05-31 |
United States Patent
Application |
20180147074 |
Kind Code |
A1 |
BATTLOGG; STEFAN |
May 31, 2018 |
PROSTHETIC OR EXOSKELETON COMPONENT, PROSTHESIS OR EXOSKELETON, AND
METHOD
Abstract
A prosthetic or exoskeleton component for a prosthesis or
exoskeleton includes a shock-absorbing unit. The shock-absorbing
unit contains a damping device that can be controlled by way of a
control device. A detection device has a sensor unit for receiving
a signal. The detection device is configured to detect uneven
ground depending on the acquired signal and to control the damping
device in response to the detected uneven ground such that a
damping property of the damping device can be adjusted on the basis
of a signal of the detection device.
Inventors: |
BATTLOGG; STEFAN; (ST. ANTON
I.M., AT) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
INVENTUS ENGINEERING GMBH |
ST. ANTON I.M. |
|
AT |
|
|
Family ID: |
56117671 |
Appl. No.: |
15/575213 |
Filed: |
May 18, 2016 |
PCT Filed: |
May 18, 2016 |
PCT NO: |
PCT/EP2016/061148 |
371 Date: |
November 17, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61F 2002/5004 20130101;
F16F 9/535 20130101; A61F 2002/762 20130101; A61F 2002/6881
20130101; A61F 2002/7615 20130101; A61F 2002/5033 20130101; A61F
2/70 20130101; A61F 2/68 20130101; A61F 2002/704 20130101; A61F
2/64 20130101; A61F 2002/705 20130101 |
International
Class: |
A61F 2/68 20060101
A61F002/68; A61F 2/64 20060101 A61F002/64 |
Foreign Application Data
Date |
Code |
Application Number |
May 18, 2015 |
DE |
10 2015 107 783.3 |
Claims
1-19. (canceled)
20. A prosthesis or exoskeleton component for a prosthesis or an
exoskeleton, the component comprising: a shock absorber device with
a damper device that is controllable by way of a control device; an
identification device with a sensor unit that includes a reception
unit for contactless acquisition of a signal influenced by an area
of uneven ground; wherein said identification device is configured
to identify the area of uneven ground in dependence on the captured
signal and to control said damper device in dependence on the
identified area of uneven ground so that a damping property of said
damper device is adjusted by a signal of said identification
device.
21. The prosthesis or exoskeleton component according to claim 20,
wherein said sensor unit comprises a transmission unit for emitting
a signal and wherein said reception unit is configured to capture
at least one reflection of the emitted signal, originating from the
area of uneven ground, as a signal.
22. The prosthesis or exoskeleton component according to claim 20,
wherein said damper device comprises at least one first damper
chamber, at least one second damper chamber, and at least one
controllable damping valve coupling said first and second damper
chambers to one another, and wherein a field generating device that
is controllable by said identification device is assigned to said
damping valve, said field generating device serving to generate and
control a field strength in at least one damping duct of said
damping valve, wherein a field-sensitive rheological medium is
provided in the damping duct.
23. The prosthesis or exoskeleton component according to claim 20,
wherein said identification device is configured to only take
account of areas of uneven ground in a predetermined near region
for controlling said damper device.
24. The prosthesis or exoskeleton component according to claim 23,
wherein said identification device is configured to predetermine
the near region depending on a walking speed of the prosthesis and
wherein the near region extends over a distance which the
prosthesis wearer covers in one second on a basis of a walking
speed.
25. The prosthesis or exoskeleton component according to claim 20,
wherein said identification device is configured to adjust the
damping property of said damper device in less than 30 milliseconds
as a consequence of an identified area of uneven ground in the near
region.
26. The prosthesis or exoskeleton component according to claim 20,
wherein said identification device is configured to ascertain a
height of the area of uneven ground over the ground and/or an angle
of at least one region of the area of uneven ground with respect to
the ground and to take account of the height and/or the angle for
controlling said damper device.
27. The prosthesis or exoskeleton component according to claim 20,
wherein said control device is configured to adjust the damping
property of said damper device to be stiffer until the area of
uneven ground is reached.
28. The prosthesis or exoskeleton component according to claim 20,
wherein said identification device is configured to take account of
at least one preset threshold for a maximum and/or a minimum
damping when controlling said damper device.
29. The prosthesis or exoskeleton component according to claim 20,
wherein said shock absorber device comprises a first damper device
assigned to a knee and a second damper device assigned to a hip,
and wherein said identification device is configured to adjust said
second damper device with a time delay in relation to said first
damper device.
30. The prosthesis or exoskeleton component according to claim 20,
wherein at least one sensor module for capturing a damper load is
assigned to said damper device and wherein said identification
device is configured to read said sensor module and register the
damper load as a consequence of an adjustment of the damper
property carried out in response to an identified area of uneven
ground and to adapt a control of said damper device in a case of a
deviation of the registered damper load from a predetermined
measure for the damper load.
31. The prosthesis or exoskeleton component according to claim 20,
wherein said identification device comprises at least one storage
device for recording identified areas of uneven ground.
32. The prosthesis or exoskeleton component according to claim 20,
wherein said sensor unit is arranged on a pivotally supported
head.
33. The prosthesis or exoskeleton component according to claim 20,
wherein said sensor unit is pivotally mounted on a holder device,
enabling a transmission angle and/or reception angle in relation to
the ground to be adjustable.
34. The prosthesis or exoskeleton component according to claim 20,
wherein said sensor unit is at least one sensor device selected
from the group consisting of an ultrasound sensor, an infrared
sensor, and a radar sensor.
35. The prosthesis or exoskeleton component according to claim 20,
wherein said identification device is configured to control at
least two said shock absorber devices.
36. A method for operating a prosthesis or exoskeleton component of
a prosthesis or of an exoskeleton, the component having at least
one shock absorber device with a damper device that is controlled
by way of a control device, the method comprising: contactlessly
capturing at least one signal with an identification device and
identifying an area of uneven ground on a basis of the
contactlessly captured signal; and controlling the damper device in
dependence on the identified area of uneven ground and adjusting a
damping property of the damper device on a basis of the identified
area of uneven ground.
37. The method according to claim 36, which comprises emitting at
least one signal with the identification device, receiving a
reflection of the emitted signal originating from the area of
uneven ground, and capturing the reflection as the at least one
signal.
38. The method according to claim 36, which comprises adjusting the
damper device to be stiffer after identifying the area of uneven
ground until the area of uneven ground is reached.
Description
[0001] The present invention relates to a prosthesis component or
exoskeleton component for a prosthesis or exoskeleton, having at
least one shock absorber device, and to a method for operating a
prosthesis or an exoskeleton. The shock absorber device comprises
at least one damper device that is controllable by way of at least
one control device.
[0002] Damping has a great influence on the movement properties and
therefore constitutes an important feature of a prosthesis or an
exoskeleton and, in particular, of arm, leg, hip or foot
prostheses. Thus, shock absorbers facilitate an improved gait and
allow swift walking, even in rough terrain. Usually, a shock
absorber also comprises a spring unit for cushioning occurring
shocks and a damping unit for damping the vibration.
[0003] In order to be able to exploit the advantages of shocks
being absorbed in an ideal fashion, an adjustment of the damping
and spring properties is indispensable as a rule. Here, criteria
for the adjustment are, for example, the weight of the wearer and
their customary movements and the properties of the terrain in
which walking should be performed.
[0004] To this end, an adjustment of the shock absorber is required
as a rule; here, a number of parameters for damping and cushioning
must be adjusted and tuned to one another. However, such an
adjustment is not always unproblematic especially for beginners or
the elderly, who may forget to perform these. In extreme cases,
there may even be a deterioration in the wearing properties as a
result of a combination of inexpedient adjustments.
[0005] Therefore, the prior art has disclosed shock absorbers
which, especially for beginners, only provide a few or only the
most important adjustment options. In contrast thereto, shock
absorbers for advanced users or experts may have a larger number of
adjustment options. However, as a rule, a typical wearer of
prostheses or exoskeletons is overwhelmed by these.
[0006] It is an object of the present invention to provide a
prosthesis or exoskeleton component which simplifies the adaptation
of damping properties, in particular during movement.
[0007] This object is achieved by a prosthesis or exoskeleton
component having the features of claim 1, and by a method as
claimed in claim 17. Preferred developments of the invention are
the subject matter of the dependent claims. Further advantages and
features emerge from the general description and the description of
the exemplary embodiments.
[0008] A prosthesis or exoskeleton component according to the
invention, for a prosthesis or an exoskeleton, comprises at least
one shock absorber device with at least one damper device that is
controllable by way of at least one control device. Provision is
made of at least one identification device with at least one sensor
unit, which comprises at least one reception unit for contactless
capture of at least one signal and, in particular, a signal that is
influenced by at least one area of uneven ground. The
identification device is suited and embodied to identify the area
of uneven ground depending on the captured signal and to control
the, or at least one, damper device or the shock absorber device
depending on the identified area of uneven ground such that at
least one damping property of the damper device is adjustable by a
signal of the identification device.
[0009] The prosthesis or exoskeleton component according to the
invention has many advantages. A significant advantage is that
areas of uneven ground, in the form of obstacles, imperfections,
stairs, etc. can be identified and that the damper device is
adjusted as a consequence of the identified area of uneven ground.
As a result, a very simple and convenient adaptation of the damping
properties to the respectively prevalent walking, road or terrain
conditions is possible. By way of example, the wearer can change
directly from a flat foot path to a difficult path with numerous
areas of uneven ground and steps without having to worry about
readjusting the damping properties or without a (strong)
deterioration of the gait occurring.
[0010] A further advantage is that the strength of the damping can
be adjusted in a very targeted fashion to a specific area of uneven
ground to be reached imminently. Thus, for example, relatively
little unevennesses can be damped less strongly than relatively
large steps in the terrain. Such an adaptation of the damping
properties to the currently prevalent terrain also facilitates an
ideal exploitation of the maximum attainable damping of a shock
absorber such that the prosthesis is always adapted, even in the
case of an extreme movement. As a result of the better
exploitation, moreover, the shock absorber can be dimensioned to be
smaller, and so weight is also saved.
[0011] In particular, the identification device is suited and
embodied to characterize, at least in part, the area of uneven
ground on the basis of the captured signal. Such a characterization
is, for example, the determination of a form or geometry of the
area of uneven ground and/or an assignment of the area of uneven
ground to a stored category and/or a distance measurement. By way
of example, it is also possible to determine the height and/or the
angle in relation to the ground and/or the angle of at least one
side face of the area of uneven ground.
[0012] Within the meaning of the present invention, the phrase area
of uneven ground is understood to mean, in particular, at least one
disturbance object on or along the path, which can exert a shock on
the the prosthesis or exoskeleton component in the case of
corresponding onward motion such that the damper device becomes
active.
[0013] In principle, it can be difficult to predict the path since
the wearer will, often more or less instinctively, avoid an
obstacle if it does not cross the whole width of the path. What may
happen in such a case is that an area of uneven ground is
identified and the shock absorber device is adjusted or the
adjustment is prepared. Subsequently, the obstacle may fail to
materialize as a result of circumvention, and so the expected event
does not occur because the wearer changed course. However, this
does not constitute a problem in preferred configurations as the
shock absorber device can be adjusted in less than 30 ms and, in
particular, in less than 10 ms, and so a setting which, it turns
out, is not needed is not suddenly present. Advantageously, the
damper device is equipped with a magnetorheological fluid and a
controllable damping valve. An advantage of such a damper device
lies in the high speed with which changes can be set.
[0014] This means that there is no need to "look" far ahead in
order to identify an uneven area of ground. This means that if an
area of uneven ground is identified, it also usually becomes
relevant. Preferably, an identification of rounding is possible,
for the purposes of which, preferably, movements of the body or
head are identified and taken into account.
[0015] By way of example, the reception unit is embodied as a
camera and comprises at least one image sensor. The image sensor
preferably is suited to capture an optical projection of the area
of uneven ground. It may be possible to capture the optical
projection in the range of the visible light and/or in the infrared
range and/or in a range with shorter or longer wavelengths. The
camera may comprise at least one lens. Provision may be made of at
least one filter and/or at least one amplifier device and/or image
stabilizor device. A stereo camera for capturing spatial
information about the area of uneven ground is also possible.
[0016] Preferably, the control device is suited and embodied to
modify the damping of the damper device before an identified area
of uneven ground is reached and, in particular, set said damping to
be stiffer. This is effectuated, in particular, in the case of
relatively pronounced areas of uneven ground, the height of which
e.g. reaches or exceeds 5 cm or 10 cm. This can ensure that enough
range of spring for suitably or ideally dealing with the area of
uneven ground is still available when the area of uneven ground is
reached. This also applies, in particular, to jumps and other
predictable or foreseeable events.
[0017] It is also possible for the shock absorber device to
comprise at least one controllable spring device. Here, the
identification device can be suited and embodied to adjust at least
one spring property of the spring device depending on the
identified area of uneven ground. By way of example, at least one
electrically driven actuator may be provided for adjustment
purposes.
[0018] The shock absorber device may also comprise a plurality of
individual or linked-together damper devices. In particular, at
least one damper device of the at least one damper device of the
shock absorber device is controllable by the identification
device.
[0019] In a particularly advantageous configuration, the sensor
unit comprises at least one transmission unit. The transmission
unit is preferably suited and embodied to emit at least one signal.
The reception unit is preferably suited and embodied to receive at
least one reflection of the emitted signal, originating at least in
part from the area of uneven ground, and to capture said reflection
as a signal. The identification device is preferably suited and
embodied to identify the area of uneven ground depending on the
captured signal. Moreover, the identification device is
particularly suited and embodied to control the damper device
depending on the identified area of uneven ground such that at
least one damping property of the damper device is adjustable by a
signal from the identification device. The reflected signal can be
processed particularly advantageously by the identification device
and it may be used for particularly reliable identification of
areas of uneven ground.
[0020] The emitted or received signal is, in particular, a
transverse wave and/or a longitudinal wave, for example an
electromagnetic wave and/or a sound wave. Here, it is possible that
the wave has been subjected to appropriate modulations. An emission
as a pulse and, in particular, as an ultrashort pulse is also
possible. It is possible to provide a pulse phase modulation. The
differences between the transmitted and reflected signals are, for
example, characteristic for the dimension, the form and/or the
material composition of the area of uneven ground. The differences
in the transmitted and reflected signals relate to, for example,
the amplitude, the frequency, the wavelength, the phase and/or the
polarization. It is also possible to ascertain interferences
between an emitted signal and a received signal. By way of example,
the sensor unit is embodied as an interferometer or it may comprise
the latter. Preferably, signals in the range of shorter wavelengths
are used to this end, for example visible light.
[0021] Preferably, the transmission unit and the reception unit are
integrated in at least one common sensor. It is also possible that
the transmission unit and the reception unit are embodied
separately. The transfer between the sensor unit and the
identification device may be effectuated wirelessly in this case.
However, provision may also be made of at least one corresponding
connection line.
[0022] In particular, the damper device comprises at least one
first damping chamber and at least one second damping chamber. The
damping chambers are, in particular, coupled to one another by way
of at least one controllable damping valve. The adjustable damping
property is, in particular, at least one measure of the damping. By
way of example, the damping property is a stiff or soft
damping.
[0023] In a particularly preferred development, at least one
controllable field generating device is assigned to the damping
valve. In particular, the field generating device is suited and
embodied to be controlled by the identification device. By way of
example, an electrical coil may be provided to this end. In
particular, the field generating device is suited and embodied to
generate and/or control a field strength in at least one damping
duct of the damping valve. Here, a field-sensitive rheological
medium is preferably provided in the damping duct.
[0024] Preferably, the damper device is provided with at least one
magnetorheological fluid and preferably said damper device has at
least one adjustable magnetorheological damping valve. At least one
mechanically actuable damping valve is also possible. Particularly
preferably, a magnetorheological medium and, in particular, a
magnetorheological fluid is used as rheological medium. Here, in
particular, the resultant viscosity of the fluid is influenced via
the intensity and strength of the magnetic field built up by the
field generating device.
[0025] In a further particularly preferred development, the
identification device is suited and embodied to control the damper
device depending on areas of uneven ground which lie in a near
region. Preferably, only areas of uneven ground in the near region
are taken into account. In particular, the near region is defined
by at least one specification stored in the identification device,
for example by a distance, length and/or width, and/or by an angle.
A dynamically adaptable near region is also possible. The near
region can also be adjustable by a prescription of the user.
[0026] By way of example, the near region may be 1 m or 2 m or 3 m,
or else 5 m or else more. It is also possible for the near region
to extend over 10 m or 15 m or even 20 m or more. However,
particularly preferably, the near region may also be less than 1 m
and, for example, be 70 cm or 50 cm or 20 cm or else 10 cm or less.
Preferably, the near region extends forward from a region lying at
the front end of the prosthesis or exoskeleton in the direction of
walking. By way of example, the near region starts in front of the
tips of the toes. Particularly preferably, the near region is
shorter than 5 m and, in particular, shorter than 2 m.
[0027] Taking into account areas of uneven ground in a near region
offers significant advantages because numerous and very quick
changes in direction are often undertaken when walking and, in
particular, when walking in terrain. Consequently, a long-term
anticipatory identification would not be expedient and tends to be
disadvantageous since areas of uneven ground which play no role may
be taken into account. What is shown in this case is that, in
particular, a transfer of obstacle identification systems known
from the automotive sector does not lead to a solution to the
aforementioned problem. In the automotive sector, it is necessary
to identify obstacles which lie as far ahead as possible and which
represent a danger for the onward travel on the selected route.
Following on from this, a different characteristic of the damper is
subsequently selected. The dampers or pneumatic suspensions used in
the prior art are "slow" in relation to the damper according to the
invention (prior art: approximately 100 ms elapse between the
identification and the attainment of the ideal adjustment position
of the damper for technological reasons; this is <10 ms in the
article according to the invention). As a result thereof, the prior
art is not even able to effectuate many actions of the article
according to the invention or entirely new options open up as a
result of the fast reaction time of the article according to the
invention in an inventive combination with selected image
processing and sensors.
[0028] By contrast, in the field of prosthetics, it is desired, as
a rule, to advance to the area of uneven ground and to overcome the
latter. Consequently, the invention presented here should not
promote a circumvention of obstacles but, precisely, a traversal
over areas of uneven ground by way of a very quick adaptation of
damping properties.
[0029] Particularly preferably, the identification device is also
suited and embodied to predetermine the near region depending on
the walking speed of the wearer of the prosthesis or exoskeleton.
Preferably, the near region extends, in particular, over at most
the distance which can be covered in one second when walking.
Setting the near region in this manner depending on the walking
speed offers the advantage that, essentially, those areas of uneven
ground which are also relevant to the damper load are taken into
account. By way of example, those areas of uneven ground which are
situated at a distance of approximately one walking second from the
tips of the toes will also be traversed with a very high
probability. It is also possible for the near region to extend at
most over the distance which the prosthesis or the exoskeleton
traverses in less than one second and, for example, in half a
second or, particularly preferably, in 0.2 seconds or, preferably,
0.1 seconds or less on account of the walking speed, which, in
turn, is very advantageous in the case of fast walking in terrain.
The prosthesis or exoskeleton component according to the invention
not only identifies situations (e.g. a root) by means of the near
field identification systems but also quantifies the latter
(distance to the root, root height, root length, one or more roots
. . . ) and appropriately adjusts the prosthesis or exoskeleton
component as late as possible or in a timely fashion or regulates
the latter to the best possible extent in real time while
overcoming the obstacle on account of the identification
information in order, straight thereafter, to set different
damping, once again in real time. The changeover that is as late as
possible before the event and the restoration which as quick as
possible after (e.g. <5 ms) said event has great importance in
terms of safety aspects. A damper which is set to "very soft or
resilient" too early or for too long on account of e.g. a root
greatly increases the body movements and reduces the stability;
unstable states may arise and falls as a result thereof are
possible.
[0030] Identifying the situations without near field identification
systems, for example with multi-axis acceleration sensors, is a
great problem in the prior art and requires many sensors for
identifying and assigning situations. In addition to costs, this
also increases the power requirement. Moreover, an enormous amount
of development outlay is required in order to correctly analyze all
possibly occurring states and sensor signals. In actual fact,
current systems without near field identification can, in a certain
way, be compared to visually impaired persons, making everyday life
more difficult. A blind person's cane, a guide dog and, in
particular, the "eyesight" thus have an uncontested and verifiably
great advantage.
[0031] By way of example, if the prosthesis does not correctly
identify a situation (downward steps or stairs) and the prosthesis
wearer then falls over because the damping is set to be too soft or
set incorrectly, this leads, in addition to possibly serious
injuries, to the loss of faith in the prosthesis. This
significantly impairs the wearing behavior.
[0032] The best non-near-field-identification sensors in/at the
prosthesis cannot identify e.g. a branch or a rope, etc.,
traversing the forest path. The quickly running prosthesis wearer
may stumble here because the damper does not leave the leg bent
longer than previously when stepping/jumping thereover, as is done
instinctively by the human when the obstacle is seen and crossed by
jumping as evasion is no longer possible. If the surroundings
identification system sees and identifies the obstacle, the ideal
angle of the prosthesis can be calculated and actuated accordingly.
Then, the overall package is dependent on the situation and
anticipatory; the prosthesis wearer suffers no injury.
[0033] By way of example, steps or stairs or ramps place high
requirements on the dampers since the forces in this case are much
greater than, for example, when walking in the flat: walking in the
flat requires a damping force of approximately 1500 N. By contrast,
stairs or a downward ramp require up to 6000 N. Hence, the damper
must be set to be much stiffer (up to a factor of 3) already at (or
prior to) the first downward step; otherwise, the damper is
displaced too quickly on account of the soft setting and the high
introduced forces and too much path is given away until the ideal
damping is identified and set (prior art: approximately 60 ms valve
adjustment time). Consequently, what may even occur now is that,
before the damper is correctly set (adjusted), the latter has
already traversed the entire displacement path and has arrived at
the end stop. Consequently, the prosthesis wearer sinks much too
quickly in order thereafter to arrive at the stop abruptly,
possibly leading to a fall or strong loads. This can be identified
and avoided by a timely identification of this situation by means
of the sensors described herein.
[0034] By way of example, another example is given by the situation
where a jump is identified (e.g. two steps are skipped . . . ) and
the approximate landing time/point is calculated. Then, the overall
system controls the damper accordingly in the best possible
way=stiff damping, and so the prosthesis wearer does not bend the
knees too strongly and, possibly, as a result thereof does not end
up in an advanced position of the upper body with a subsequent
fall.
[0035] However, it is also possible for the near region to extend
over the distance which the prosthesis or exoskeleton covers in
more than one second and, for example, 1.5 seconds or 2 seconds or
3 seconds on the basis of the walking speed. The prosthesis or
exoskeleton component may comprise suitable sensors for determining
the walking speed. It is also possible to query a speedometer
and/or navigation system of the prosthesis or exoskeleton
wearer.
[0036] The time by means of which the extent of the near region is
defined can be set depending on a width of the near region. Here,
in particular, the width of the near region extends transversely to
the walking direction. The width of the near region may also be set
by a capturing angle of the sensor unit. By way of example, the
capturing angle is determined by virtue of the angle at which the
signal is emitted and/or the angle at which the reception unit
receives a reflected signal. Such a configuration is advantageous
since the width of the near region has an influence on how quickly
an identified area of uneven ground can be circumvented by an
evasive maneuver and consequently becomes irrelevant to the damper
control.
[0037] Preferably, the identification device is suited and embodied
to adjust the damping property of the damper device in less than 30
milliseconds as a consequence of an identified area of uneven
ground in the near region. Here, this period of time should be
understood to mean, in particular, the time that is required for
the corresponding damper adjustment after identifying an area of
uneven ground. Preferably, the evaluation of the sensor signals and
the identification of the area of uneven ground is also effectuated
in such a time period and, particularly preferably, in a
significantly shorter time period.
[0038] In particular, the damper device is also suited and embodied
to be adjusted by the identification device within the
aforementioned time. Such a short adjustment time is advantageous
in that it is possible to implement correspondingly short near
regions. This increases the probability that the identified areas
of uneven ground also really become relevant. A further advantage
is that a complete adaptation of the damping property still is
possible in the case of a sudden maneuver where new identification
of areas of uneven ground become necessary as a consequence
thereof.
[0039] Particularly preferably, the quick adjustment of the damping
property is effectuated by means of the damper valve and the
assigned field generating device. In particular, the damping
property of the damper device is adjusted in less than 20
milliseconds or less than 10 milliseconds and particularly
preferably in less than 5 milliseconds. The adjustment may also be
effectuated in less than 3 milliseconds and, in particular, in less
than 2 milliseconds. However, an adjustment which requires more
than 30 milliseconds and, for example, 50 milliseconds is also
possible.
[0040] In particular, the identification device is suited and
embodied to ascertain the height of the area of uneven ground above
the ground and take this into account for controlling the damper
device. Preferably, the identification device is suited and
embodied to ascertain the angle of at least one region of the area
of uneven ground with respect to the ground and take this into
account for controlling the damper device. By way of example, the
damping may be set to be softer with increasing steepness and/or
height of the area of uneven ground.
[0041] By way of example, the control is effectuated in this case
within the meaning of a characteristic field control, and so
corresponding values of height and/or angle are assigned to stored
values for the damper stiffness. A threshold-dependent control is
also possible, and so an assigned damper stiffness is set when
thresholds in respect of height and/or angle are overshot and/or
undershot. It is also possible for the control to be embodied as an
adaptive control. To this end, the control may comprise, for
example, an adaptive algorithm and/or a fuzzy logic and/or an
algorithm based on the principle of a neural network or the
like.
[0042] In an advantageous configuration, the identification device
is suited and embodied to ascertain a distance from the area of
uneven ground. Here, it may be the case that the signals captured
by the sensor unit are characteristic for a distance between the
area of uneven ground and the sensor unit. By way of example, a
correction factor, by means of which a distance between the leg and
the area of uneven ground is calculable from the distance between
the sensor unit and area of uneven ground, may be provided.
[0043] On the basis of the information about the distance between
the tips of the toes and the area of uneven ground, it is possible
to calculate the time when the foot comes into contact with the
area of uneven ground. Thus, for example by taking account of the
walking speed, the damper adjustment can be undertaken exactly when
the adaptation to the area of uneven ground is necessary--to be
precise, even exactly at the moment when it is required. In
combination with a configuration described above, in which a field
generating device is used for adjusting the dampers, very fast and
short-term reactions are possible in such a case, and so a reaction
to areas of uneven ground lying directly in front of the foot still
can also be effectuated with an ideal damper setting.
[0044] In particular, a range of spring can be saved ahead of the
area of uneven ground in the case of an anticipatory identification
of an area of uneven ground, such as an object lying on the road or
foot path, a thick root or the like, in order still to reliably
have enough range of spring available for ideal damping for the
purposes of overcoming the area of uneven ground (root, stone,
etc.). Without anticipatory identification, it could be necessary
to set the damping much stiffer than actually desired when
traversing the area of uneven ground if the available range of
spring has already been used up or there is danger of a
breakdown.
[0045] In all cases, it is also possible that the distance of an
area of uneven ground can already be deduced from the
identification thereof per se. Then, an additional determination of
distance is preferably not necessary. By way of example, this is
the case if the capture range of the sensor unit is focused
accordingly such that only areas of uneven ground lying at a
certain distance are registered in any case. Then, it is possible
to ascertain the time at which the prosthesis comes into contact
with the area of uneven ground, for example directly after
identifying the area of uneven ground and by taking into account
the walking speed and a distance factor.
[0046] The identification device is preferably also suited and
embodied to take account of at least one preset limit for maximum
damping when controlling the damper device. The control can also
take account of a limit for minimum damping. Here, the limit can be
set by the user. Limits in the form of factory presets are also
possible. However, it is also possible that the limit is set
automatically after at least one user input. By way of example, the
driver can enter their weight by means of a user interface and a
limit for minimum damping and maximum damping is subsequently set.
Optionally, the weight of the wearer is ascertained by sensors.
[0047] Such configurations are advantageous in that the adjustment
of the damper device by the identification device does not lead to
settings that are problematic or unwanted by the user. Thus,
provision can also be made for the control to be briefly
deactivated depending on identified areas of uneven ground in the
case of certain situations, in which a high damper load is sensed.
To this end, a damper controller, for example, can be provided and
embodied, the latter comprising damper sensors and carrying out the
control commands of the identification device according to a
certain priority.
[0048] In an advantageous development, the prosthesis or
exoskeleton component for a shock absorber device is provided with
at least one first damper device and at least one second damper
device. Here, the first damper device is preferably assigned to a
hip damper and the second damper device is preferably assigned to a
knee damper. In particular, the identification device can be suited
and embodied to set the second damper device with time delay in
relation to the first damper device. The identification device is
preferably embodied to set the damper devices independently of one
another.
[0049] Such a time-delayed actuation may be advantageous in that
the damper device of the knee is also prepared in ideal fashion and
can be adapted to the area of uneven ground at the ideal time.
Here, it is preferable for the identification device to be suited
and embodied to adapt the time delay depending on the walking speed
of the prosthesis or exoskeleton wearer. In particular, the
kinematics between hip and knee are also taken into account. It is
possible that the damper device is assigned to at least one
detector device or a sensor module for capturing a damper load. By
way of example, a detector device (damper sensor) can be provided,
said detector device capturing the travel and/or the speed of two
components of the damper device that are movable in relation to one
another. In particular, the detector device can be used to capture
how far and/or how quickly the damper contracts in the case of an
impact and/or expands again after an impact. Here, the detector
device can be part of the prosthesis or of the exoskeleton which is
assigned to the prosthesis or exoskeleton component. However, it is
also possible that the detector device is comprised by the
prosthesis or exoskeleton component.
[0050] By way of example, some damper controllers are already
equipped at the factory with appropriate sensors for identifying
the load, in particular in order to be able to undertake an
independent adaptation. Preferably, the identification device is
suited and embodied to read such sensor data and take these into
account when setting the damper property.
[0051] Preferably, the identification device is suited and embodied
to register the damper load after an impact on a previously
identified area of uneven ground. This allows conclusions to be
drawn as to whether or not the adjustment of the damper property,
performed as a reaction to the identified area of uneven ground,
was productive. Preferably, the identification device can compare
the registered damper load with values for a damper load stored in
at least one storage device.
[0052] Particularly preferably, the identification device is
embodied in such a way that the controller can be adapted to the
damper device if the registered damper load deviates from at least
one predetermined measure for the damper load. Here, the adaptation
of the controller is preferably undertaken in such a way that a
better damper load within the range of the predetermined measure is
achievable in future areas of uneven ground. Preferably, the
identification device is equipped with at least one adaptive
algorithm.
[0053] In particular, the identification device is embodied in such
a way that it can autonomously check the set damper settings and
that it adapts future control commands to the damper device by at
least one correction factor in the case of an occurrence of
inexpedient damper loads such that the damper load in future lies
in an ideal range again.
[0054] It is also possible for provision to be made for at least
one sensor module for capturing a spring load of at least one
spring device. Here, the identification device is, in particular,
suited and embodied to read the sensor module and adapt the control
of the spring device, as was also described above for the damper
load.
[0055] It is preferable for the identification device to have at
least one storage device for storing the identified areas of uneven
ground. The storage device preferably has a functional connection
to at least one interface such that a readout of the recorded areas
of uneven ground is possible, for example by a user. It is also
possible that the identification device can independently read the
storage device, for example for an automatic correction. It is also
possible that the storage device is embodied to record the damper
load and/or the set damper settings. Capturing such data
facilitates particularly simple monitoring of the settings, set by
the user, on the shock absorber device.
[0056] It is particularly preferred for the sensor unit to be
arranged at at least one component of the prosthesis or of the
exoskeleton. This is advantageous in that the sensor unit is
substantially always aligned in the direction of walking. It is
also possible to arrange the sensor unit at a different body part
of the wearer. Here, it is possible for the transmission unit and
the reception unit to be arranged at a distance from one another
and/or on separate components. Preferably, the sensor unit is
received in a pivotable manner in at least one holder device. Here,
the holder device, in particular, is embodied with a fastening
element which is arranged on a component of the prosthesis or
exoskeleton. Moreover, the holder device comprises at least one
second fastening element which is provided for connection with the
sensor unit. Preferably, an assembly or disassembly of the sensor
unit on the holder device without tools is provided. In particular,
the holder device can also be fastened on, or disassembled from,
the prosthesis or exoskeleton without tools.
[0057] Particularly preferably, the sensor unit is assembled in a
pivotable manner on the prosthesis or the exoskeleton by means of
the holder device. In particular, the pivotability is embodied in
such a way that the transmission angle and/or the reception angle
of the sensor unit with respect to the ground is adjustable. By way
of example, scaling and/or a lattice can be provided on the holder
device such that the user is provided with an aid when aligning the
sensor unit. Such pivoting of the sensor unit is advantageous in
that the capture region for identifying areas of uneven ground can
be adapted quickly and with little outlay.
[0058] In particular, there is an adaptation of the identification
device in respect of the damper actuation according to identified
areas of uneven ground after such pivoting of the sensor unit. Such
an adaptation is particularly easy if the identification device has
an adaptive embodiment. Then, for example, the identification
device is able to independently ascertain the distance between the
capture region of the sensor unit and the user, and thereafter
adjust the damper actuation, after passing over one or more areas
of uneven ground taking into account the walking speed.
[0059] However, it is also possible that a pivoting of the sensor
unit and/or any other change of the capture region of the sensor
unit requires a manual adjustment at the identification device. By
way of example, a light source which transmits an illuminated dot
into the capture region may be arranged at the sensor unit. Then,
the user is able to measure the distance between the illuminated
dot and the foot and enter the measured distance within the meaning
of a correction factor into the identification device by way of an
input device or any other interface.
[0060] In particular, the sensor unit is arranged at at least one
holder device such that a spaced apart arrangement in relation to
at least one component of the prosthesis or of the exoskeleton
emerges. By way of example, a clamp may be provided. In a further
preferred embodiment, the sensor unit is embodied as an ultrasound
sensor or comprises at least one such device. Such ultrasound
sensors are cost-effective and have very compact dimensions.
Moreover, a configuration of the identification system with a very
low weight is possible using such sensors; this is an important
feature, particularly in the cycling sport sector.
[0061] Moreover, ultrasound sensors allow a reliable identification
of areas of uneven ground and, in particular, the height, angle
and/or distance thereof. It is also possible for the sensor unit to
comprise two or three or more ultrasound sensors. Thus, for
example, provision can be made of a 2, 4 and/or 6 channel and/or
more channel system.
[0062] The sensor unit may also comprise at least one infrared
sensor or be embodied as such a sensor. Infrared sensors also offer
a cost-effective and reliable sensor system for identifying areas
of uneven ground and the geometry or distance thereof. Here,
provision may also be made of two or three or more infrared
sensors.
[0063] Use can also be made of cost-effective depth sensors, as
used in e.g. the Microsoft Kinect.
[0064] The sensor unit may also be a head mounted display (HMD), a
near-to-eye optical system (such as e.g. Google glass) or a
development of these technologies, or it may be complemented
thereby. Using this, it is possible to obtain, inter alia,
additional information as well, because the following is
identified: the direction and where to or on what the gaze is
directed (rotational angle of the head, inclination of the head,
focus; movement speed . . . ). Here, the wearer of the HMD
automatically looks on the objects relevant to the situation and
thereby makes the preselection. This simplifies the situation
analysis and increases the predictive accuracy of the near field
identification. It is also possible to superimpose information for
the wearer (e.g. reduce speed) in order thus to obtain an improved
result in combination with the adaptation of the dampers derived
from the sensor signal.
[0065] It is also possible that the sensor unit is embodied as at
least one radar system or at least comprises such a system. By way
of example, the sensor unit may be embodied as a so-called ultra
wide band radar sensor. Here, the sensor unit is embodied to emit
at least one ultrashort pulse and to receive again and evaluate the
corresponding reflections. By way of example, it is possible to use
a change in phase, frequency, wavelength and/or time-of-flight to
identify the area of uneven ground.
[0066] A prosthesis or exoskeleton component may also comprise
further components and parts such that a prosthesis or exoskeleton
component may also form a complete prosthesis or a complete
exoskeleton.
[0067] The method according to the invention is suited to operate a
prosthesis or exoskeleton component which is provided for a
prosthesis or exoskeleton. The prosthesis or the exoskeleton
comprises at least one shock absorber device with at least one
damper device. The damper device is controllable by way of at least
one control device. Here, at least one signal and, in particular, a
signal influenced or originating from at least one area of uneven
ground is captured contactlessly by means of an identification
device. The area of uneven ground is identified on the basis of the
signal captured contactlessly. The damper device is controlled
depending on the identified area of uneven ground. Here, at least
one damping property of the damper device is adjusted.
[0068] The method according to the invention is advantageous in
that areas of uneven ground are identified automatically and the
shock absorbers are subsequently adjusted in such a way that the
areas of uneven ground are passed with damping properties that are
as ideal as possible.
[0069] Preferably, at least one signal is emitted by means of the
identification device and at least one reflection of the emitted
signal, originating from the area of uneven ground, is received and
captured as a signal.
[0070] After identifying the area of uneven ground, the damper
device is preferably adjusted to be stiffer until the area of
uneven ground is reached. In particular, the anticipatory
identification of an area of uneven ground allows sufficient range
of spring to be saved for the area of uneven ground, and so an
ideal damping of the area of uneven ground can be effectuated.
[0071] Particularly preferably, a prosthesis or exoskeleton
component as described in one of the preceding claims finds use in
the method according to the invention. It is also particularly
preferred for the damper device to be adjusted on the basis of a
controllable field generating device and by means of a
field-sensitive rheological medium.
[0072] Preferably, not only dynamic obstacles, extensive paths,
terrain forms, etc. but also static obstacles or situations are
captured and considered accordingly from a control point of view in
the method according to the invention:
[0073] During a stay at a reception or in a bar (long calm
standing), thus can be treated differently from a control point of
view (sampling rate, current requirement, first setting . . . )
than the wait in front of an elevator or in the case of a red
traffic light (brief standing with subsequent step/sidewalk edge
and occasional fast running off . . . ).
[0074] No holding force is required if the prosthesis wearer is
standing at the bar with a straight leg. In this case, the
actuator, preferably an actuator with a magnetorheological liquid,
can reduce the query time (clock of the electronics) in order to
save power. This then goes as far as a "sleep mode" which saves
much power. If the situation is not identified and the MRF actuator
is switched to be currentless, this may be problematic or dangerous
should the prosthesis wearer move very suddenly and the valve be
fully open (because of no current) and the prosthesis wearer
therefore bends over. In order to counteract this here, short
internal electronic query times must be set despite the calm
standing=no power requirement for the MRF valve; this increases the
power requirement. This is also the case because, for example,
standing at a bar may be a process extending for hours on end. The
reduction in the power requirement is very important as this saves
weight and installation space, and increases the use duration.
[0075] By means of at least one sensor such as e.g. a head up
display with image and/or speech recognition (advanced data
goggles), it is possible to identify whether or not the prosthesis
wearer intends to move away. It will initially identify the
surroundings accordingly (turning of the head; possibly by way of
speech recognition and the analysis of the spoken word such as
"bye"; "I am leaving now"; "I would like to settle the bill,
please") and then run off. In combination with the identification
of the surroundings and the situation analysis, it is possible to
evaluate the situation to a better extent and sometimes it can only
be evaluated at all.
[0076] According to the prior art, an arm/finger/limb stump is
required for controlling an e.g. prosthesis or else an active
prosthesis. For many people, this does not work because, for
example, they are seriously disabled (e.g. paralyzed from the
cervical spine downward). Sensors and speech recognition and image
recognition assist walking aids and other aids. As a result, they
can be controlled in an improved manner. Here, the sensors can help
by virtue of situations being identified and, as result thereof,
actions being carried out, as described above. These are
advantageous in combination with speech commands.
[0077] At the start of the development, there is an autonomous
system (e.g. prostheses), the behavior of which is improved by
"anticipation". Successively, with increasing refinement of the
sensors, etc., the "anticipation" assumes more functions.
[0078] The prostheses or exoskeleton components according to the
invention can also be used by prostheses wearers when skiing,
surfing or other applications.
[0079] The "anticipation" need not necessarily be optical; instead,
it can also be acoustic. By way of an acoustic sensor (microphone;
frequency, loudspeaker, voice recognition . . . ), it is possible
to use the surface during fast walking (tar=quiet; gravel=loud;
sounds of wind=quick . . . ) and, resulting therefrom, it is
possible to modify the damper setting. This also applies to
acoustic advice and warnings by other persons and automatic advice
and warnings or information (lift doors closing; attention,
escalator . . . ).
[0080] Typically, prostheses or exoskeleton users must also, at
least occasionally, carry loads such as a rucksack or lift and
carry objects, receive a package, etc. The sensor unit or the image
recognition unit including evaluation already identifies the
situation preferably in an anticipatory manner here or estimates
e.g. the load, the load distance and the angle. It is also possible
to take account of extended arms and angled arms, etc. The control
device adapts the damper accordingly; by way of example, the damper
is or dampers are set to be stiffer and/or the characteristics are
adapted. As a result, it is possible, for example, to avoid too
quick a displacement to the end stop or other inexpedient
situations.
[0081] Further advantages and features of the present invention
emerge from the description of the exemplary embodiments, which are
explained below with reference to the attached figures.
[0082] In the figures:
[0083] FIG. 1 shows a schematic view of a prosthesis equipped with
a prosthesis or exoskeleton component according to the
invention;
[0084] FIG. 2 shows a schematic view of the control structure of
the prosthesis or of the exoskeleton according to FIG. 1;
[0085] FIG. 2a shows a schematic view of the prosthesis according
to FIG. 1 in a terrain; and
[0086] FIG. 3 shows a schematic view of a shock absorber device for
the prosthesis according to FIG. 1.
[0087] With reference to the attached figures, an exemplary
embodiment of a prosthesis or exoskeleton 200 that is equipped with
a prosthesis or exoskeleton component 401 and with shock absorbers
100 is explained below.
[0088] FIG. 1 shows a schematic illustration of a prosthesis 200.
The prosthesis comprises a shock absorber 100 which comprises at
least one damper device. Here, a central control device 60 is
provided in a container together with a battery unit 61.
[0089] Additionally, each shock absorber 100 in this case has at
least one control device 46 on an electronics unit that is provided
in a replaceable manner. The electronics units may each have
separate battery units. However, a power supply through the central
battery unit 61 is preferred.
[0090] The damper controller 200 and the central control device 60
are operated via operating devices 150. Two operating devices 150
are provided, namely an actuating device 151 and an adjustment
device 152. The actuating device 151 has mechanical input units
153. The adjustment device 152 may be embodied as a computer.
However, it is also possible that a smartphone 160, a smart watch
(smart device) or a tablet or the like is used as an adjustment
device 152 and, for example, stored in the pocket or in the
backpack of the user when no adjustment of the settings is
undertaken.
[0091] It is also possible that two shock absorbers are controlled
synchronously by way of an actuating device 151.
[0092] The display 49 is embodied, in particular, as a graphical
user interface or as a touchscreen 57 such that the user may, for
example, touch an illustrated damper characteristic 10 with the
fingers and modify it by dragging. As a result, the illustrated
damper characteristic 90, which is used immediately for the
control, can be produced from the damper characteristic 10,
illustrated using solid lines, by contacting one or more points.
The modification of the damper characteristics 10, 90 is also
during operation, for example when walking. Here, it is not only
the damping that is modified but it is also possible to
simultaneously, or else exclusively, modify the suspension.
[0093] The adjustment device 152 may also serve as a display
computer and display information about the current speed and about
the average speed and/or the daily, tour, lap and overall
kilometers. It is also possible to display the current position,
the current time, the current elevation, the traversed path and the
path profile, and also a possible range under current damping
conditions.
[0094] The prosthesis 200 shown here is equipped with a prosthesis
or exoskeleton component 401 according to the invention. The shown
prosthesis 200 with with the prosthesis or exoskeleton component
401 can be controlled according to the method according to the
invention.
[0095] In the configuration shown here, the prosthesis or
exoskeleton component 401 comprises an identification device 408
which is integrated into the central control device 60. The
identification device 408, however, may also have a separate
embodiment and may be housed at any suitable location on the
prosthesis wearer 200. Here, the prosthesis or exoskeleton
component 401 moreover comprises a sensor unit 403 which comprises
an ultrasound sensor 424 attached to the prosthesis wearer. Here,
the sensor unit 403 is connected to the identification device 408
by way of a line (not shown). Alternatively, a wireless
communication may also be provided between the sensor unit 403 and
the identification device 408.
[0096] During the operation, the sensor unit 403 emits an
ultrasound signal and receives the reflection thereof. The
identification device 408 evaluates the received signal and thus
recognizes whether the source of the reflection is an area of
uneven ground in the terrain. Here, the reflected signal is also,
in particular, evaluated by the identification device 408 in such a
way that a characterization of the area of uneven ground is
possible. As a consequence of an identified or characterized area
of uneven ground, the identification device 408 supplies a
corresponding control signal to the central control device 60.
[0097] Thereupon, the central control device 60 influences an
embodied first damper device. The adjustment of the damper device
100 by the control device 60 is explained in more detail with
reference to FIG. 3.
[0098] The walking speed may also be determined by way of a GPS
signal.
[0099] FIG. 2 shows a schematic illustration of the damper
controller 300 and the communication links of some of the involved
components. The central control device 60 may be connected to the
individual components in a wired or wireless manner. By way of
example, the control device 60 can be connected to the other
components via WLAN, Bluetooth, ANT+, GPRS, UMTS, LTE or any other
transfer standards. Optionally, the control device 60 may be
connected wirelessly to the Internet 53 via the link illustrated by
dots.
[0100] The control device 60 is connected to the battery unit 61.
Furthermore, the control device 60 can be connected to a detector
device 20 or to a plurality of sensors. The operating devices 150,
namely the actuating device 151 and the adjustment device 152, are
coupled, at least intermittently, to the control device 60 in a
wired or wireless manner. The actuating device 151 is preferably
coupled to the control device in a wired manner; however, it may
also be linked wirelessly and may comprise a separate battery such
as a button cell or the like.
[0101] The control device 60 is connected via cables, network
interfaces 54 or radio network interfaces 55 to control devices 46
of the shock absorbers 100 at the prosthesis. The control device
46, possibly provided at each shock absorber 100, ensures the local
control and may in each case have a battery or else may be
connected to the central battery unit 61. It is preferable for the
control of both shock absorbers to be effectuated by way of the
control device 60.
[0102] Preferably, at least one detector device 20 is assigned to
each shock absorber 100 in order to capture relative movements
between the components 101 and 102 and in order, in particular, to
determine a relative position of the components 101 and 102
relative to one another. The detector device 20 may be embodied as
a position sensor or else comprise the latter. On the basis of the
damper characteristic 10 of the shock absorber 100 stored in the
storage device 45, the associated damping force and a suitable
spring force is adjusted after ascertaining a characteristic for
the relative speed. A suitable spring force may be ascertained by
way of the current weight of the user.
[0103] In FIG. 2, the control circuit 12, which is saved in the
storage device 45 and stored or programmed in the control device
60, is illustrated schematically. The control circuit 12 is carried
out periodically during operation and, in particular, carried out
periodically in a continuous manner. In step 52, a current relative
movement or relative speed of the first component 101 in relation
to the second component 102 is captured with the detector device
20. A characteristic which is representative for the current
relative speed is derived in step 52 from the values of the
detector device 20 or of the sensors.
[0104] In the next step 56, the associated damping force to be set
is then subsequently derived from the current or ascertained
characteristic value, taking into account the predetermined or
selected damper characteristic. From this, a measure for the field
strength or current to be set at the current time is derived; by
means of this, it is possible to at least approximately obtain the
damping force to be set. The measure may be the field strength
itself, or else e.g. specify the current at which the damping force
to be set is obtained at least approximately.
[0105] In a subsequent step 70, the latest field strength to be set
is produced or the corresponding current is applied to the electric
coil device 11 as a field generating device such that, within a
single cycle or a time period of the control circuit 12, the
damping force which is provided in the case of the selected or
predetermined damper characteristic in relation to the current
relative speed of the first component in relation to the second
component is produced. Subsequently, the next cycle starts and step
52 is carried out anew.
[0106] The central control device 60 shown here moreover has a
functional connection to the prosthesis or exoskeleton component
401 according to the invention. The prosthesis or exoskeleton
component 401 consists of the identification device 408 and an
ultrasound sensor 424. Here, the ultrasound sensor 424 can emit an
ultrasound signal and can also receive this signal again. The
sensor 424 consequently unifies a transmission unit 413 and a
reception unit 423 in one component. As a result, a particularly
inconspicuous and space-saving housing is possible. This is
advantageous in the case of sports prostheses in particular, in
which increased value is placed on a low weight and good
aerodynamic properties. Moreover, the external appearance of the
prosthesis 200 is not impaired either.
[0107] Alternatively, the identification device 408 may also be
connected to an infrared sensor 434. Provision can also be made of
a radar sensor 444. Here, the identification device 408 also has an
integrated storage device 418. Hence, storing the identified areas
of uneven ground (or the data thereof) and the subsequently
undertaken damper adjustments is possible. Later, this can be
retrieved, e.g. by a user, via an appropriate interface such as
e.g. a smartphone 160. Moreover, the identification device 408 in
this case resorts to data of a sensor module 476 which is embodied
as a detector device 20. Here, the identification device 408 takes
account of the captured values of the detector device 20 in order
to be able to monitor the damper load.
[0108] FIG. 2a shows the prosthesis 200 of FIG. 1 in a very
schematic terrain. In this case, areas of uneven ground 801, 811,
which are sketched as elevations or unevennesses on the ground are
situated along the path. By way of example, such areas of uneven
ground can be: stones, steps, roots, depressions, bumps, potholes,
ledges, elevations, curbs, cobblestones, tree stumps, branches and
tree trunks.
[0109] Here, an ultrasound sensor 424 is attached by means of a
holder device 433 to the prosthesis 200 illustrated in an enlarged
manner. Here, the holder device 433 is dimensioned in such a way
that it does not protrude, or only protrudes slightly, beyond the
front of the body 111. As result, damage to the sensor unit 403 in
the case of impact is largely avoided. In the prosthesis 200 that
is illustrated in an enlarged manner, provision is made for a
rotary damper which damps a rotary or pivot movement. The use of a
linear damper, which is illustrated on the schematically
illustrated smaller prosthesis in FIG. 3, is just as preferred.
[0110] The capture range 806 of the sensor 424 can be aligned in an
ideal manner by pivoting the sensor 424 on the holder device 433.
Preferably, such an alignment occurs once during the installation
of the prosthesis or exoskeleton component 401. It is also possible
here for the user themselves to undertake an alignment of the
capture region 806 according to their desires.
[0111] The exemplary arrangements of the sensor unit 403 shown here
serve illustrative purposes. In fact, it is preferable for only one
sensor unit 403 to be provided at a prosthesis or an exoskeleton
200. However, the sensor unit 403 may comprise a plurality of
sensors in this case. By way of example, four or six ultrasound
sensors 424 may be provided in a sensor unit 403 such that the
resolution can be improved or the capture region 806 can be
expanded.
[0112] If use is made of a head up sensor 403, the latter, and
hence the capture region 806, is pivoted in the direction in which
the user looks or turns their head. However, a sensor unit 403 may
also be provided on the control tube or on other parts that are not
pivoted in the case of a head movement. The alignment of the sensor
unit 403 with respect to the ground should be set depending on the
type and design of the sensor in this case, or it should be
ascertained in advance.
[0113] If the user wishes to use the identification device 408, he
can activate the latter by the operating device 150. Then, the
identification device 408 emits ultrasound waves into the capture
region 806 by the sensor 424. If the section of terrain lying in
the capture region 806 is free from areas of uneven ground, this is
identified by the identification device 408 on the basis of the
reflected ultrasound waves. Then, the identification device 408
does not undertake any adjustments of the damper setting. Here, the
damper devices 1 are set as provided by the damper controller 300
during normal operation or as corresponds to the desired
prescriptions of the user.
[0114] If an area of uneven ground 801 appears in the capture
region 806 in due course, there is a modified reflection of the
ultrasound waves. The change in signal is registered and evaluated
by the identification device 408. On the basis of the
identification, it is possible to determine, in particular, the
height 803 of the area of uneven ground over the ground and the
distance 805 of the area of uneven ground from the front side of
the body or of the component 200. On the basis of the reflected
signals, it is also possible to ascertain the angle 804 of an area
of the area of uneven ground that points toward the prosthesis 200.
It is also possible, for example, that the form or the three
dimensional geometry of the area of uneven ground is characterized,
at least approximately.
[0115] The identification device 803 ascertains the ideal time for
adjusting the damper setting for the expected impact with the area
of uneven ground 801 on the basis of the distance 805. Preferably,
the damper setting remains unchanged until the area of uneven
ground 801 is reached so that the best driving properties for a
normal or plane ground are obtained. If the front point of the
prosthesis now reaches the area of uneven ground 801, the
identification device 408 actuates the central control device 60 in
such a way that the damping is adjusted in the soft direction.
Here, it is possible to use parameters such as the height 803 or
the angle 804 in order to set the damper softer by precisely the
measure that is ideal for such an area of uneven ground.
[0116] If the damper device 1 is adjusted by way of, for example,
applying a field strength to a magnetorheological fluid 9, the
damper adaptation may be effectuated immediately before striking
the front wheel 111 on account of the particularly fast reaction
time. The damper devices 1 with such short reaction times are
particularly well-suited to the use with the identification device
408 since the capture region 806 can be focused to a near region
802 that is as short as possible. As a result, it is possible to
avoid an unwanted identification of areas of uneven ground 801
which are no longer relevant at all after a spontaneous evasive
movement.
[0117] The less far the near region 802 extends in front of the
user, the more probable it is that the identified areas of uneven
ground 801 become relevant and are not simply circumvented, for
instance after changing direction. On account of the very short
reaction time of the damper adjustment presented here, it is
possible, for example, to realize near regions 802 which extend
over a distance which the prosthesis or exoskeleton 200 traverses
in one second or even in only one tenth of a second. Here, the
adjustment time of the damper device 1 is preferably less than 10
milliseconds. Here, the near region 802, in which areas of uneven
ground 801 are identified and able to trigger a damper adjustment,
may be adapted dynamically by the identification device 408
depending on the respective walking or running speed.
[0118] Once the area of uneven ground 801 has been overcome and no
further areas of uneven ground 811 are situated in the near region
802, the damper device 1 is restored back to the appropriate basic
setting for flat terrain. By focusing the capture region 806 onto a
very short near region 802, areas of uneven ground 811 lying
outside of the near region 802 are not captured. However, this is
by no means disadvantageous since frequent and fast changes of
direction occur when walking or hiking in terrain. Therefore, it is
not unlikely that areas of uneven ground 811 that are situated
further away do not become at all relevant but are circumvented.
The short near region 802 consequently is advantageous in that the
damper device 1 is also adjusted precisely to the ground underfoot
which is current at the moment.
[0119] A distinction between e.g. cobblestones and a gravel road
(forest path) is very difficult by means of the detector signals
according to the prior art (displacement signal; amplitude;
acceleration signal) since the signals from the detector devices
may be very similar on both grounds. However, the damper should
have different settings to this end; this is possible using the
identification of the surroundings:
[0120] A softer setting is expedient in the case of cobblestones so
that shocks are not transmitted to the body. The risk of sudden
elevations/holes is low; it follows from this that an unchanging
characteristic is expected to be present over relatively long
phases.
[0121] The damping is preferably set to be stiffer on a gravel path
because the prosthesis can otherwise sink in too strongly and this
may yield unstable states. Unstable states may result therefrom.
Furthermore, the risk of sudden larger stones or areas of uneven
ground is significantly larger on a forest path or on a gravel
road, and so a quicker change of characteristics may also be
necessary (higher clock rate of the electronics).
[0122] The identification device 408 shown here communicates with a
detector device 20 of the damper device 1 (cf. FIG. 3). As
described above, this detector device 20 is provided for
ascertaining a relative speed of two components 101, 102 moving in
relation to one another. On the basis of the relative speed
captured by this detector device 20, the identification device 408
can independently monitor whether or not the undertaken damper
adjustment was adequate for the overcome area of uneven ground
801.
[0123] By way of example, if the prosthesis or the prosthesis
wearer 200 runs over an area of uneven ground 801 and there is a
non-ideal load of the damper device 1 in the process, then this is
identified by the identification device 408 on the basis of the
inappropriate relative speed of the damper components 101, 102.
Then, if a comparable area of uneven ground 801 occurs at a
subsequent time, the monitoring device 408 undertakes the damper
adjustment taking account of a suitable correction factor. If the
relative speed of the damper components 101, 102 measured thereupon
lies in the intended range, the identification device 408 keeps the
correction factor. If the damper load is outside of the intended
range again, the identification device 408 adapts the correction
factor by a certain measure.
[0124] Here, the identification device 408 is equipped with a
storage device 418 so that the properties of the identified area of
uneven ground 801 and the thereupon undertaken damper adjustments
and possible correction factors can be stored. Firstly, this
facilitates particularly simple maintenance and control by the
service, where the storage device 418 can be read out by way of a
suitable interface.
[0125] However, moreover, it also provides the wearer with helpful
information which they can retrieve, for example, by way of their
smart phone 160 from the storage device 418. Particularly
preferably, the information stored in the storage device 418 is
linked to position data which can be added from, for example, a
GPS-capable smartphone 160 or smart device (such as e.g. a smart
watch). On the basis of this data, the user can create very
detailed path profiles in conjunction with digital maps, said path
profiles offering a very vivid image about the prevalent ground or
terrain conditions on the basis of the stored areas of uneven
ground.
[0126] It is also possible that the identification device 408 is
embodied to identify a jump of the prosthesis wearer 200. By way of
example, a jump can be captured by virtue of no, or only very
little, reflection occurring or by virtue of a weight sensor in the
shoe not capturing any weight. Such an identification of ground
missing under the shoe of the user is advantageous in that the
damper device 1 can be ideally set for the impact of the prosthesis
wearer 200 after the jump. In order to identify whether the
prosthesis wearer 200 lands first with the left leg or right leg
after the jump, the identification device 408 may have at least one
position sensor or the like.
[0127] In another configuration, the sensor unit 403 is preferably
equipped with a reception unit 423 embodied as a camera. Using such
a reception unit 423, optical projections of the area of uneven
ground are captured and used for identifying areas of uneven ground
by the identification device 408. Here, a transmission unit 413 is
not required and may be omitted.
[0128] It is also possible for provision to be made of two or more
reception units 423 embodied as cameras or at least one stereo
camera such that optical projections with a three-dimensional or
spatial information are derivable. As a result, it is possible to
determine a distance, form and size of the area of uneven ground
with particularly high detail and in a particularly reliable
manner.
[0129] The sensor unit 403 may also comprise a camera with a light
source and may be embodied as a triangulation device. Here, the
light source projects a defined pattern onto the area of uneven
ground and the camera records this pattern from a plurality of
viewing angles and calculates the form or size of the area of
uneven ground from the pattern distortion.
[0130] It is also possible that the sensor unit 403 emits light by
means of a light source and the identification device 408
ascertains the distance to the area of uneven ground by means of a
time-of-flight measurement.
[0131] FIG. 3 shows an exemplary embodiment of a shock absorber
device 100 for a prosthesis or exoskeleton component 401 having a
damper device 1 and, in this case, a spring device 42 which is
embodied as an air spring and comprises a positive chamber 43 and a
negative chamber 44. The damper device 1 is fastened to the first
end as a connection unit or component 101 and the second end as
connection unit or component 102 to different parts of the
component 401 from FIG. 1 in order to damp relative movements. The
damper device 1 comprises a damper housing 2 and a first damper
chamber 3 and a second damper chamber 4, which are separated from
one another by the damping valve 8 embodied as a piston 5. In other
configurations, an external damper valve 8 is also possible, which
is arranged outside of the damper housing 2 and connected by way of
appropriate feed lines.
[0132] The piston 5 is connected to a piston rod 6. The
magnetorheological damping valve 8 (indicated by dashed lines) is
provided in the damping piston 5, said damping valve comprising
here an electrical coil 11 as a field generating device, in order
to produce a corresponding field strength. The damping valve 8 or
the "open state" of the damping valve is actuated by means of the
electrical coil device 11.
[0133] The coil of the electrical coil device 11 is not wound
around the piston rod 6 in the circumferential direction but rather
about an axis extending transversely with respect to the
longitudinal extent of the piston rod 6 (and parallel to the plane
of the drawing here). A relative movement takes place here linearly
and occurs in the direction of movement 18. The magnetic field
lines run here in the central region of the core approximately
perpendicularly with respect to the longitudinal extent of the
piston rod 6 and therefore pass approximately perpendicularly
through the damping ducts 7. A damping duct is located behind the
plane of the drawing and is indicated by dashed lines. This brings
about effective influencing of the magnetorheological fluid located
in the damping ducts 7, with the result that the flow through the
damping valve 8 can be damped effectively.
[0134] An equalization piston 72, which disconnects an equalization
space 71, which is preferably filled with a gas, for the volume of
the piston rod, which enters when spring compression occurs, is
arranged in the damper housing 2.
[0135] Not only in the damping valve 8 but also here in the two
damping chambers 3 and 4, there is a magnetorheological fluid
present everywhere here (with the exception of the equalization
space 71) as a field-sensitive medium.
[0136] The shock absorber device 100 has a detector device 20. The
detector device 20 comprises in each case a detector head 21 and a
scaling device 30 embodied in a structured fashion.
[0137] The scaling device 30 comprises here a sensor belt with
permanent magnetic units as field generating units. The poles of
the permanent magnetic units alternate with the result that north
and south poles are arranged in alternating fashion in the
direction of movement of the detector 22. The magnetic field
strength is evaluated by means of the detector head, and the
respective current position 19 is determined therefrom.
[0138] The spring device 42 extends here at least partially around
the damper device 1 and comprises a spring housing 76. One end of
the damper 1 is connected to a suspension piston 37 or forms the
latter. The suspension piston 37 separates the positive chamber 43
from a negative chamber 44.
[0139] The spring housing 76 is closed off with respect to the end
of the connecting unit 101 by a cover 77. The connecting cable 38
for the electrical coil device 11 is also led out there. An
electrical connecting cable for the detector device 20 is also
preferably led to the outside there.
[0140] For the sake of better clarification, two different variants
of a detector device 20 are shown in FIG. 3.
[0141] The detector device 20 comprises two sensor parts,
specifically the detector head 21, which, above the center line in
the variant illustrated, is arranged inside the positive chamber 43
of the spring device 42. The detector device 20 comprises as a
further sensor part the scaling device 30 which in this variant is
arranged or held in the spring housing 76. Depending on the
configuration and selection of material of the spring housing 76
and depending on the measuring principle of the detector device 20,
the scaling device 30 can be integrated into the wall of the spring
housing 76 or else arranged on the inner wall of the spring housing
76 or else attached on, or applied to, the spring housing 76 on the
outside.
[0142] The detector head 21 comprises two detectors 22 and 23 which
are arranged offset from one another in the direction of movement
18 in this case.
[0143] The scaling device 30 has a structure 32 which extends over
a measuring section 31 and over which the physical properties of
the scaling device 30 change periodically.
[0144] Sensor sections 33 are preferably arranged on the scaling
device 30 and have electrical and/or magnetic properties which
respectively repeat and therefore form the structure 32 of the
scaling device 30.
[0145] If a relative movement of the connecting units 101 and 102
of the damper 1 with respect to one another now takes place, the
position 19 of the damper 1 changes and the relative position of
the detector head 21 relative to the scaling device 30 shifts. By
evaluating the signal strength of a detector 22, 23 and, in
particular, of at least two detectors 22, 23 it is therefore
possible to infer the relative position of the detector head 21
relative to a sensor section 33 or with respect to the scaling
device 30 or the absolute position within a sensor section 33. The
sensor sections 33 have a length 34 which may be constant or else
variable. If two detectors are arranged offset with respect to one
another in the direction of movement 18 and if both detectors
detect the magnetic field of the scaling device 30, the position 19
and the direction of movement 18 can be determined very precisely
by evaluating the signals.
[0146] During the continuous movement, the number of sensor
sections or periods passed is stored in the memory device 45 of the
control device 46, with the result that the absolute position 19
can be inferred. All that is required for this is for the measuring
frequency to be so high that a complete sensor section is not moved
past "unnoticed" during a measuring cycle.
[0147] As an alternative to the variant plotted above the line of
symmetry of the damper device 1 in FIG. 3, an alternative of the
detector 20 is additionally illustrated below the line of symmetry,
the detector device 20 being arranged completely outside of the
damper housing 2 and outside of the spring housing 76 in this case.
A holder 58 holds the scaling device 30 and connects the scaling
device securely to an end or a connection unit 102 of the shock
absorber device 100. The detector head 21 is connected to the other
end or the other connection unit 101 of the shock absorber device
100. The detector head 21 is held in such a way that it is arranged
without contact at a small distance from the scaling device 30. In
the case of a relative movement between the connection units of the
shock absorber 100, there thus also is a relative movement of the
scaling device 30 relative to the detector head 21. Here too, a
relative position can be ascertained by way of the measuring
section 31, which preferably substantially corresponds to the
damper stroke 103, by way of evaluating the field strengths.
LIST OF REFERENCE SIGNS
[0148] 1 Damper device [0149] 2 Damper housing [0150] 3 First
damper chamber [0151] 4 Second damper chamber [0152] 5 Damping
piston [0153] 6 Piston rod [0154] 7 Damping duct [0155] 8 Damping
valve [0156] 9 MRF [0157] 10 Damper characteristic [0158] 11
Electrical coil [0159] 12 Control circuit [0160] 18 Direction of
movement [0161] 19 Position [0162] 20 Detector device [0163] 21,22
Detector [0164] 30 Scaling device [0165] 31 Measuring section
[0166] 32 Structure [0167] 33 Sensor section [0168] 37 Suspension
piston [0169] 38 Cable [0170] 42 Spring device [0171] 43 Positive
chamber [0172] 44 Negative chamber [0173] 42 Insulation material
[0174] 45 Storage device [0175] 46 Control device [0176] 48 Data
[0177] 49 Display [0178] 52 Step [0179] 53 Internet [0180] 54
Network interface [0181] 55 Radio network interface [0182] 56 Step
[0183] 57 Touchscreen [0184] 58 Holder [0185] 60 Control device
[0186] 61 Battery unit [0187] 70 Step [0188] 71 Equalization space
[0189] 72 Equalization piston [0190] 76 Spring housing [0191] 77
Cover [0192] 90 Damper characteristic [0193] 100 Shock absorber
[0194] 101,102 Component [0195] 118 Angle sensor [0196] 150
Operating device [0197] 151 Actuating device [0198] 152 Adjustment
device [0199] 153 Input unit [0200] 160 Smartphone [0201] 161-162
Region [0202] 190 Damper characteristic [0203] 200 Prosthesis,
exoskeleton [0204] 401 Prosthesis or exoskeleton component [0205]
403 Sensor unit [0206] 408 Identification device [0207] 413
Transmission unit [0208] 418 Storage device [0209] 423 Reception
unit [0210] 424 Ultrasound sensor [0211] 433 Holding device [0212]
434 Infrared sensor [0213] 444 Radar sensor [0214] 476 Sensor
module [0215] 801 Area of uneven ground [0216] 802 Near region
[0217] 803 Height [0218] 804 Angle [0219] 805 Distance [0220] 806
Capture region [0221] 811 Area of uneven ground
* * * * *